ekf2: update logger, mavlink, DDS, and replay for AuxGlobalPosition

Update integrations to use the new AuxGlobalPosition message instead
of the VehicleGlobalPosition-based aux_global_position topic.

src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp

@@ -43,7 +43,7 @@ AuxGlobalPosition::AuxGlobalPosition() : ModuleParams(nullptr)
 		_id_param_values[slot] = getAgpParamInt32("ID", slot);
 
 		if (_id_param_values[slot] != 0) {
-			_sources[slot] = new AgpSource(slot, this);
+			_sources[slot] = new AgpSource(slot);
 			_n_sources++;
 		}
 	}

src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position_control.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2023-2026 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -33,13 +33,11 @@
 
 #include "ekf.h"
 #include <aid_sources/aux_global_position/aux_global_position_control.hpp>
-#include <aid_sources/aux_global_position/aux_global_position.hpp>
 
 #if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION) && defined(MODULE_NAME)
 
-AgpSource::AgpSource(int slot, AuxGlobalPosition *manager)
+AgpSource::AgpSource(int slot)
-	: _manager(manager)
+	: _slot(slot)
-	, _slot(slot)
 {
 	initParams();
 	advertise();
@@ -148,7 +146,6 @@ bool AgpSource::update(Ekf &ekf, const estimator::imuSample &imu_delayed)
 					}
 
 					if (fused || reset) {
-						ekf.enableControlStatusAuxGpos();
 						_reset_counters.lat_lon = sample.lat_lon_reset_counter;
 						_state = State::kActive;
 					}
@@ -158,7 +155,6 @@ bool AgpSource::update(Ekf &ekf, const estimator::imuSample &imu_delayed)
 					if (ekf.resetGlobalPositionTo(sample.latitude, sample.longitude, sample.altitude_amsl, pos_var,
 								      sq(sample.epv))) {
 						ekf.resetAidSourceStatusZeroInnovation(_aid_src);
-						ekf.enableControlStatusAuxGpos();
 						_reset_counters.lat_lon = sample.lat_lon_reset_counter;
 						_state = State::kActive;
 					}
@@ -183,19 +179,11 @@ bool AgpSource::update(Ekf &ekf, const estimator::imuSample &imu_delayed)
 
 					} else {
 						_state = State::kStopped;
-
-						if (!_manager->anySourceFusing()) {
-							ekf.disableControlStatusAuxGpos();
-						}
 					}
 				}
 
 			} else {
 				_state = State::kStopped;
-
-				if (!_manager->anySourceFusing()) {
-					ekf.disableControlStatusAuxGpos();
-				}
 			}
 
 			break;
@@ -213,11 +201,6 @@ bool AgpSource::update(Ekf &ekf, const estimator::imuSample &imu_delayed)
 
 	} else if ((_state != State::kStopped) && isTimedOut(_time_last_buffer_push, imu_delayed.time_us, (uint64_t)5e6)) {
 		_state = State::kStopped;
-
-		if (!_manager->anySourceFusing()) {
-			ekf.disableControlStatusAuxGpos();
-		}
-
 		ECL_INFO("Aux global position data stopped for slot %d", _slot);
 	}
 

src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position_control.hpp

@@ -44,12 +44,11 @@
 #include <uORB/topics/aux_global_position.h>
 
 class Ekf;
-class AuxGlobalPosition;
 
 class AgpSource
 {
 public:
-	AgpSource(int slot, AuxGlobalPosition *manager);
+	AgpSource(int slot);
 	~AgpSource() = default;
 
 	void bufferData(const aux_global_position_s &msg, const estimator::imuSample &imu_delayed);
@@ -101,8 +100,6 @@ private:
 	float _test_ratio_filtered{0.f};
 	uint64_t _time_last_buffer_push{0};
 	reset_counters_s _reset_counters{};
-
-	AuxGlobalPosition *_manager;
 	int _slot;
 
 	struct ParamHandles {

src/modules/ekf2/EKF/control.cpp

@@ -118,6 +118,7 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)
 
 #if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION) && defined(MODULE_NAME)
 	_aux_global_position.update(*this, imu_delayed);
+	_control_status.flags.aux_gpos = _aux_global_position.anySourceFusing();
 #endif // CONFIG_EKF2_AUX_GLOBAL_POSITION
 
 #if defined(CONFIG_EKF2_AIRSPEED)

src/modules/ekf2/EKF/estimator_interface.h

@@ -303,9 +303,6 @@ public:
 	const filter_control_status_u &control_status_prev() const { return _control_status_prev; }
 	const decltype(filter_control_status_u::flags) &control_status_prev_flags() const { return _control_status_prev.flags; }
 
-	void enableControlStatusAuxGpos() { _control_status.flags.aux_gpos = true; }
-	void disableControlStatusAuxGpos() { _control_status.flags.aux_gpos = false; }
-
 	// get EKF internal fault status
 	const fault_status_u &fault_status() const { return _fault_status; }
 	const decltype(fault_status_u::flags) &fault_status_flags() const { return _fault_status.flags; }

src/modules/logger/logged_topics.cpp

@@ -210,7 +210,7 @@ void LoggedTopics::add_default_topics()
 	add_topic_multi("vehicle_imu_status", 1000, 4);
 	add_optional_topic_multi("vehicle_magnetometer", 500, 4);
 	add_topic("vehicle_optical_flow", 500);
-	add_topic("aux_global_position", 500);
+	add_topic_multi("aux_global_position", 500);
 	add_optional_topic("pps_capture");
 
 	// additional control allocation logging
@@ -319,7 +319,7 @@ void LoggedTopics::add_estimator_replay_topics()
 	add_topic("vehicle_magnetometer");
 	add_topic("vehicle_status");
 	add_topic("vehicle_visual_odometry");
-	add_topic("aux_global_position");
+	add_topic_multi("aux_global_position");
 	add_topic_multi("distance_sensor");
 }
 

src/modules/mavlink/streams/GLOBAL_POSITION.hpp

@@ -36,7 +36,7 @@
 
 #include <stdint.h>
 
-#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/aux_global_position.h>
 
 class MavlinkStreamGLobalPosition : public MavlinkStream
 {

src/modules/replay/ReplayEkf2.cpp

@@ -54,6 +54,7 @@
 #include <uORB/topics/vehicle_optical_flow.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_odometry.h>
+#include <uORB/topics/aux_global_position.h>
 
 #include "ReplayEkf2.hpp"
 

src/modules/uxrce_dds_client/dds_topics.yaml

@@ -52,7 +52,7 @@ publications:
 
   - topic: /fmu/out/transponder_report
     type: px4_msgs::msg::TransponderReport
- 
+
   # - topic: /fmu/out/vehicle_angular_velocity
   #   type: px4_msgs::msg::VehicleAngularVelocity
 
@@ -191,7 +191,7 @@ subscriptions:
     type: px4_msgs::msg::ActuatorServos
 
   - topic: /fmu/in/aux_global_position
-    type: px4_msgs::msg::VehicleGlobalPosition
+    type: px4_msgs::msg::AuxGlobalPosition
 
   - topic: /fmu/in/fixed_wing_longitudinal_setpoint
     type: px4_msgs::msg::FixedWingLongitudinalSetpoint

src/modules/zenoh/dds_topics.yaml

@@ -149,7 +149,7 @@ subscriptions:
     type: px4_msgs::msg::ActuatorServos
 
   - topic: /fmu/in/aux_global_position
-    type: px4_msgs::msg::VehicleGlobalPosition
+    type: px4_msgs::msg::AuxGlobalPosition
 
 # Create uORB::PublicationMulti
 subscriptions_multi: